AIBOX设备集成协议 V1.0

AIBOX采用MQTT和GB28181协议实现外部平台对接，基本上参考大疆的上云API。MQTT消息用于控制，事件上报等。GB28181用于视频相关流媒体传输。
用户可以对照着大疆的MQTT Topic协议文档https://developer.dji.com/doc/cloud-api-tutorial/cn/api-reference/pilot-to-cloud/mqtt/topic-definition.html

MQTT Topic 定义

Topic Name	发送者 -> 订阅者	Message	说明
thing/product/{device_sn}/osd	设备 > 云平台		盒子定频向云平台推送的设备属性
thing/product/{device_sn}/state	设备 > 云平台		盒子按需上报向云平台推送的设备属性
thing/product/{gateway_sn}/services	云平台 -> 设备		云平台向盒子请求的服务
thing/product/{gateway_sn}/services_reply	设备 > 云平台		设备对 service 的回复、处理结果
thing/product/{gateway_sn}/events	设备 > 云平台		设备端向云平台发送的事件
thing/product/{gateway_sn}/requests	设备 > 云平台		设备端向云平台发送请求，为了获取一些信息，比如上传的临时凭证
thing/product/{gateway_sn}/requests_reply	云平台 -> 设备		云平台对设备请求的回复
sys/product/{gateway_sn}/status	设备 > 云平台		设备上下线
thing/product/{gateway_sn}/drc/up	设备 > 云平台		DRC 协议上行
thing/product/{gateway_sn}/drc/down	云平台 > 设备		DRC 协议下行

公共字段：

Column	Name	Type	Description
tid	事务uuid	text	事务（Transaction）的 UUID：表征一次简单的消息通信
bid	业务uuid	text	业务（Business）的 UUID
timestamp	毫秒时间戳	int	消息的发送时间
gateway	网关设备的序列号	text	发送该消息的网关设备的序列号
data	消息内容	object	消息内容

开始直播

topic: thing/product/{gateway_sn}/services
Direction: down
Method: live_start_push

字段：

Column	Name	Type	Description
url_type	直播协议类型	enum	"3" //GB28181
url	直播参数	text	"serverIP=192.168.1.1&serverPort=8080&serverID=34000000000000000000&agentID=300000000010000000000&agentPassword=0000000&localPort=7060&channel=340000000000000000000&agentID1=300000000010000000001&agentPassword1=0000000&localPort1=7061&channel1=340000000000000000001"
video_id	直播视频流的ID编号	text	1ZNDH1D0010098/39-0-7/normal-0
video_quality	直播质量	enum	{"0":"自适应","1":"流畅","2":"标清","3":"高清","4":"超清"}
示例：

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"url_type": "3", //gb28181
		"url": "serverIP=192.168.1.1&serverPort=8080&serverID=34000000000000000000&agentID=300000000010000000000&agentPassword=0000000&localPort=7060&channel=340000000000000000000&agentID1=300000000010000000001&agentPassword1=0000000&localPort1=7061&channel1=340000000000000000001",
		"video_id": "1ZNDH1D0010098/39-0-7/normal-0",
		"video_quality": 0      
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "live_start_push"
}

停止直播

topic: thing/product/{gateway_sn}/services
Direction: down
Method: live_stop_push

字段：

Column	Name	Type	Description
video_id	直播视频流的ID编号	text	1ZNDH1D0010098/39-0-7/normal-0
示例：

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp:": 1654070968655,
	"method": "live_stop_push",
	"data": {
		"video_id": "1ZNDH1D0010098/42-0-0/zoom-0"
	}
}

盒子Osd

topic: thing/product/{device_sn}/osd

说明：此消息1hz定时上报

字段：

Column	Name	Type	Description
height	绝对高度	float
latitude	当前位置纬度	float
longitude	当前位置经度	float
authority_change		bool	控制权变化
flight_authority_type		int
flight_authority_user		string
live_status		int
live_quality		int
live_video_type		string
available_network		int
real_use_network		int
wireless_status_list	无线信号质量	array

wireliess_status_list字段

Column	Name	Type	Description
module_name		string
module_installed		bool
module_connected		bool
in_use		bool
sim_card_status		enum_int	// 0: no sim card, 1: not ready, 2: sim card ready, 3: pin code required, 4: puk code required, 5: network personalization, 6: bad
ue_state		string
network_type		string
cell_id		string
rsrp		int
sinr		int
sdr_quality		int

示例：

{
  "bid":"00000000-0000-0000-0000-000000000000",
  "tid":"00000000-0000-0000-0000-000000000000",
  "timestamp":1727505066666,
  "gateway":"1ZMBJBF0030041",
  "data": {
        wireless_status_list: [
			{
                "module_name" : "5G_A", //Module name in AIBOX
                "module_installed" : true,
                "sim_card_status" : 0, // 0: no sim card, 1: not ready, 2: sim card ready, 3: pin code required, 4: puk code required, 5: network personalization, 6: bad
                "ue_state": "NOCONN", // "SEARCH", "LIMSRV", "NOCONN", "CONNECT"
                "network_type" : "NR", // LTE, NR
                "cell_id" : 0, // cell id
                "rsrp" : -70, // received signal strength, dbm
                "sinr" : -20, //signal to interference plus noise ratio, db
            },
            {
                "module_name" : "5G_B",
                "module_installed" : true,
                "sim_card_status" : 0, // 0: no sim card, 1: not ready, 2: sim card ready, 3: pin code required, 4: puk code required, 5: network personalization, 6: bad
                "ue_state": "NOCONN",
                "network_type" : "NR", // LTE, NR
                "cell_id" : 0,
                "rsrp" : -70,
                "sinr" : -20,
            },
            {
                "module_name" : "1.4G",
                "module_installed" : true,
                "sim_card_status" : 0, // 0: no sim card, 1: not ready, 2: sim card ready, 3: pin code required, 4: puk code required, 5: network personalization, 6: bad
                "ue_state": "NOCONN",
                "network_type" : "LTE", // LTE, NR
                "cell_id" : 0,
                "rsrp" : -70,
                "sinr" : -20,
            },           
        ]
    },
}

飞机Osd

topic: thing/product/{device_sn}/osd

说明：此消息1hz定时上报

字段：

Column	Name	Type	Description
attitude_head	偏航轴角度	float	偏航轴角度与真北角（经线）的角度，0到6点钟方向为正值，6到12点钟方向为负值
attitude_pitch	俯仰轴角度	float
attitude_roll	横滚轴角度	float
battery	飞行器电池信息	struct
distance_limit_status		struct
elevation	相对起飞点高度	float
firmware_version	固件版本	string	{"length":"64"}
gear	档位	enum	{"0":"A","1":"P","2":"NAV","3":"FPV","4":"FARM","5":"S","6":"F","7":"M","8":"G","9":"T"}
height	绝对高度	float	相对地球椭球面高度, 计算：相对起飞点的高度 + 起飞点的椭球高
height_limit	飞行器限高	int	{"max":"1500","min":"20","step":"1","unit_name":"米 / m"}
home_distance	距离 Home 点的距离	float
horizontal_speed	水平速度	float
latitude	当前位置纬度	float	{"max":"3.4028235E38","min":"-1.4E-45","step":"0.1"}
longitude	当前位置经度	float	{"max":"3.4028235E38","min":"-1.4E-45","step":"0.1"}
mode_code	飞行器状态	enum	{"0":"待机","1":"起飞准备","2":"起飞准备完毕","3":"手动飞行","4":"自动起飞","5":"航线飞行","6":"全景拍照","7":"智能跟随","8":"ADS-B 躲避","9":"自动返航","10":"自动降落","11":"强制降落","12":"三桨叶降落","13":"升级中","14":"未连接","15":"APAS","16":"虚拟摇杆状态","17":"指令飞行","18":"空中 RTK 收敛模式"}
payload	负载	Struct
position_state	搜星状态	struct
storage	存储容量	Struct
total_flight_distance	飞行器累计飞行总里程	Float	{"unit_name":"米 / m"}
total_flight_time	飞行器累计飞行航时	Int	{"unit_name":"秒 / s"}
track_id	航迹 ID	string	{"length":"64"}
vertical_speed	垂直速度	float	{"unit_name":"米每秒 / m/s"}
wind_direction	当前风向	Enum	{"1":"正北","2":"东北","3":"东","4":"东南","5":"南","6":"西南","7":"西","8":"西北"}
wind_speed	风速	float	风速估计，该风速是通过飞行器姿态推测出的，有一定的误差，仅供参考，不能作为气象数据使用

Position state字段

Column	Name	Type	Description
gps_number	GPS 搜星数量	int
is_fixed	是否收敛	Enum	{"0":"未开始","1":"收敛中","2":"收敛成功","3":"收敛失败"}
quality	搜星档位	enum	{"1":"1档","2":"2档","3":"3档","4":"4档","5":"5档"}
rtk_number	RTK 搜星数量	int

drone battery字段

Column	Name	Type	Description
batteries	电池详细信息	array
capacity_percent	电池的总剩余电量	int	{"max":100,"min":0}
landing_power	强制降落电量百分比	int	{"max":100,"min":0}
remain_flight_time	剩余飞行时间	int	{"unit_name":"秒 / s"}
return_home_power	返航所需电量百分比	int	{"max":100,"min":0}

battery字段

Column	Name	Type	Description
capacity_percent	电池剩余电量	int	{"max":100,"min":0}
firmware_version	固件版本	string
high_voltage_storage_days	高电压存储天数	int	{"unit_name":"日 / day"}
index	电池序号	int	left: 0 right: 1
loop_times	电池循环次数	int
sn	电池序列号（SN）	string
sub_type	电池子类型	enum_int
temperature	温度	float	{"unit_name":"摄氏度 / °C"} 保留小数点后一位
type	电池类型	enum_int
voltage	电压	int	{"unit_name":"毫伏 / mV"}

storage字段

Column	Name	Type	Description
total	总容量	int	{"unit_name":"千字节 / KB"}
used	已使用容量	int	{"unit_name":"千字节 / KB"}

示例：

盒子上下线

topic: sys/product/{gateway_sn}/status

字段：

Column	Name	Type	Description
device_secret	网关设备的密钥
domain	网关设备的命名空间
nonce	nonce
sub_devices	子设备列表
sub_type	网关子设备的产品子类型
thing_version	网关设备的物模型版本
type	网关设备的产品类型

sub_device字段

Column	Name	Type	Description
device_secret	子设备的密钥
domain
index
nonce	nonce
sn	子设备序列号（SN）
sub_type
thing_version
type

示例：

{
	"tid": "tid001",
	"bid": "bid001",
	"method": "update_topo",
	"timestamp": 1234567890123,
  "gateway": "gw123456",
  "from": "gw123456",
	"data": {
		"type": 98,
		"sub_type": 0,
		"device_secret": "secret",
		"nonce": "nonce",
		"version": 1,
		"sub_devices": [
			{
				"sn": "drone001",
				"type": 116,
				"sub_type": 0,
				"index": "A",
				"device_secret": "secret",
				"nonce": "nonce",
				"version": 1
			}
		]
	}
}

获取飞行控制权

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: flight_authority_grab

Data: null

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "flight_authority_grab"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: flight_authority_grab

Data:

Column	Name	Type	constraint	Description
result	返回码	int		非 0 代表错误

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "flight_authority_grab"
}

一键起飞

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: takeoff_to_point

Data:

Column	Name	Type	Description
commander_flight_height	【必填】指点飞行高度	float	{"max":3000,"min":2,"step":0.1,"unit_name":"米 / m"} 相对(机场)起飞点的高度，相对高 ALT
commander_flight_mode	【必填】指点飞行模式设置值	enum_int	{"0":"智能高度飞行","1":"设定高度飞行"}
commander_mode_lost_action	【必填】指点飞行失控动作	enum_int	{"0":"继续执行指点飞行任务","1":"退出指点飞行任务，执行普通失控行为"}
flight_id	一键起飞任务 UUID	string	任务 UUID，全局唯一，用于染色，云端区分该值是普通计划任务还是一键起飞任务
max_speed	一键起飞的飞行过程中能达到的最大速度	int	{"max":15,"min":1,"unit_name":"米每秒 / m/s"}
rth_altitude	返航高度	int	{"max":1500,"min":2,"step":1,"unit_name":"米 / m"}相对(机场)起飞点的高度，相对高 ALT
rc_lost_action	遥控器失控动作	enum_int	{"0":"悬停","1":"着陆(降落)","2":"返航"}遥控器失控动作
rth_mode	【必填】返航模式设置值	enum_int	{"0":"智能高度","1":"设定高度"}智能返航模式下，飞行器将自动规划最佳返航高度。大疆机场当前不支持设置返航高度模式，只能选择'设定高度'模式。当环境，光线不满足视觉系统要求时（譬如傍晚阳光直射、夜间弱光无光），飞行器将使用您设定的返航高度进行直线返航
security_takeoff_height	安全起飞高度	float	{"max":1500,"min":20,"step":0.1,"unit_name":"米 / m"}相对(机场)起飞点的高度（ALT），飞行器先升到特定的高度，然后再飞向目标点。
target_height	目标点高度	float	{"max":1500,"min":2,"step":0.1,"unit_name":"米 / m"}目标点高度（椭球高），使用 WGS84 模型，飞行器到点后默认行为：悬停
target_latitude	目标点纬度	double	{"max":90,"min":-90} 目标点纬度，角度值，南纬是负，北纬是正，精度到小数点后6位
target_longitude	目标点经度	double	{"max":180,"min":-180} 目标点经度，角度值，东经是正，西经是负，精度到小数点后6位

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"commander_flight_height": 80,
		"commander_mode_lost_action": 1,
		"flight_id": "ABDEAC21DCADDA",
		"max_speed": 12,
		"rc_lost_action": 0,
		"rth_altitude": 100,
		"security_takeoff_height": 100,
		"target_height": 100,
		"target_latitude": 12.23,
		"target_longitude": 12.32
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "takeoff_to_point"
}

盒子响应

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: takeoff_to_point

Data:

Column	Name	Type	constraint	Description
result	返回码	int		非 0 代表错误

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "takeoff_to_point"
}

一键起飞结果上报

Topic: thing/product/{gateway_sn}/events

Direction: up

Method: takeoff_to_point_progress

Data:

Column	Name	Type	Description
flight_id	一键起飞任务 UUID	text
planned_path_points	规划的轨迹点列表	array	指点飞行为什么不要这个字段
remaining_distance	剩余任务距离	float	{"step":0.1,"unit_name":"米 / m"}
remaining_time	剩余任务时间	float	{"step":0.1,"unit_name":"秒 / s"}
result	返回码	int	非 0 代表错误
status	任务状态	enum_string	{"task_finish":"一键起飞任务完成","task_ready":"准备起飞","wayline_cancel":"取消飞向目标点","wayline_failed":"执行失败","wayline_ok":"执行成功，已飞向目标点","wayline_progress":"执行中"}
track_id	航迹 ID	text
way_point_index	当前执行到第几个航点	int	指点飞行为什么不要这个字段

planned_path_points字段：

Column	Name	Type	Description
height	目标点高度	float	{"max":10000,"min":2,"step":0.1,"unit_name":"米 / m"} 目标点高度（椭球高），使用 WGS84 模型
latitude	目标点纬度	float	{"max":90,"min":-90} 目标点纬度，角度值，南纬是负，北纬是正，精度到小数点后6位
longitude	目标点经度	float	{"max":180,"min":-180} 目标点经度，角度值，东经是正，西经是负，精度到小数点后6位

示例:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"flight_id": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
		"planned_path_points": [
			{
				"height": 123.234,
				"latitude": 13.23,
				"longitude": 123.234
			}
		],
		"remaining_distance": 0,
		"remaining_time": 0,
		"result": 0,
		"status": "wayline_ok",
		"track_id": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
		"way_point_index": 1
	},
	"need_reply": 1,
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 16540709686556,
	"method": "takeoff_to_point_progress"
}

指点飞行

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: fly_to_point

Data:

Column	Name	Type	Description
fly_to_id	飞向目标点 ID	text
max_speed	flyto 的飞行过程中能达到的最大速度	int	{"max":15,"min":0,"unit_name":"米每秒 / m/s"}
points	flyto 目标点列表	array	仅支持 1 个目标点

points字段：

Column	Name	Type	Description
height	目标点高度	float	{"max":10000,"min":2,"step":0.1,"unit_name":"米 / m"} 目标点高度（椭球高），使用 WGS84 模型
latitude	目标点纬度	float	{"max":90,"min":-90} 目标点纬度，角度值，南纬是负，北纬是正，精度到小数点后6位
longitude	目标点经度	float	{"max":180,"min":-180} 目标点经度，角度值，东经是正，西经是负，精度到小数点后6位

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"fly_to_id": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
		"max_speed": 12,
		"points": [
			{
				"height": 100,
				"latitude": 12.23,
				"longitude": 12.23
			}
		]
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "fly_to_point"
}

盒子响应消息

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: fly_to_point

Data:

Column	Name	Type	constraint	Description
result	返回码	int		非 0 代表错误

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "fly_to_point"
}

指点飞行执行结果通知

Topic: thing/product/{gateway_sn}/events

Direction: up

Method: fly_to_point_progress

Data:

Column	Name	Type	Description
fly_to_id	飞向目标点 ID	text
remaining_distance	剩余任务距离	float	{"step":0.1,"unit_name":"米 / m"}
remaining_time	剩余任务时间	float	{"step":0.1,"unit_name":"秒 / s"}
planned_path_points	规划的轨迹点列表	array	{"size": -, "item_type": struct}
result	返回码	int	非 0 代表错误
status	状态	enum_string	{"wayline_cancel":"取消飞向目标点","wayline_failed":"执行失败","wayline_ok":"执行成功，已飞向目标点","wayline_progress":"执行中"}
way_point_index	当前执行到第几个航点	int

planned_path_points字段：

Column	Name	Type	Description
height	目标点高度	float	{"max":10000,"min":2,"step":0.1,"unit_name":"米 / m"} 目标点高度（椭球高），使用 WGS84 模型
latitude	目标点纬度	float	{"max":90,"min":-90} 目标点纬度，角度值，南纬是负，北纬是正，精度到小数点后6位
longitude	目标点经度	float	{"max":180,"min":-180} 目标点经度，角度值，东经是正，西经是负，精度到小数点后6位

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"fly_to_id": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
		"planned_path_points": [
			{
				"height": 123.234,
				"latitude": 13.23,
				"longitude": 123.234
			}
		],
		"remaining_distance": 0,
		"remaining_time": 0,
		"result": 0,
		"status": "wayline_progress",
		"way_point_index": 0
	},
	"need_reply": 1,
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 16540709686556,
	"method": "fly_to_point_progress"
}

结束指点飞行

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: fly_to_point_stop

Data: null

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "fly_to_point_stop"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: fly_to_point_stop

Data:

Column	Name	Type	constraint	Description
result	返回码	int		非 0 代表错误

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "fly_to_point_stop"
}

更新指点飞行目标点

说明：「一键起飞」或「flyto 飞向目标点」的过程中，可以通过该命令快速更新目标点

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: fly_to_point_update

Data:

Column	Name	Type	constraint	Description
max_speed	指令飞行过程中能达到的最大速度	int	{"max":15,"min":1,"unit_name":"米每秒 / m/s"}
points	更新的目标点列表	array	{"size": -, "item_type": struct}	仅支持 1 个目标点
»latitude	目标点纬度	double	{"max":90,"min":-90}	目标点纬度，角度值，南纬是负，北纬是正，精度到小数点后6位
»longitude	目标点经度	double	{"max":180,"min":-180}	目标点经度，角度值，东经是正，西经是负，精度到小数点后6位
»height	目标点高度	float	{"max":10000,"min":2,"step":0.1,"unit_name":"米 / m"}	目标点高度（椭球高），使用 WGS84 模型

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"max_speed": 12,
		"points": [
			{
				"height": 100,
				"latitude": 12.23,
				"longitude": 12.23
			}
		]
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "fly_to_point_update"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: fly_to_point_update

Data:

Column	Name	Type	constraint	Description
result	返回码	int		非 0 代表错误

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "fly_to_point_update"
}

执行航线任务

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: flighttask_execute

Data:

Column	Name	Type	constraint	Description
flight_id	计划 ID	text
file	航线文件对象	struct
»url	文件 URL	text
»fingerprint	文件签名	text		文件内容 MD5 签名

示例：

{
	"bid": "00000000-0000-0000-0000-000000000000",
	"data": {
        "file": {
			"url": "https://cloud.3g.com.cn/kmz/waypoint_v3_test_file.kmz",
    		"fingerprint": "MD5"        
        },
		"flight_id": "12345678"
	},
	"tid": "00000000-0000-0000-0000-000000000000",
	"timestamp": 1654070968655,
	"method": "flighttask_execute"
}

航线暂停

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: flighttask_pause

Data: null

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "flighttask_pause"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: flighttask_pause

Data:

Column	Name	Type	constraint	Description
result	返回码	int		非 0 代表错误

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"need_reply": 1,
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "flighttask_pause"
}

航线恢复

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: flighttask_recovery

Data: null

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "flighttask_recovery"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: flighttask_recovery

Data:

Column	Name	Type	constraint	Description
result	返回码	int		非 0 代表错误

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"need_reply": 1,
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "flighttask_recovery"
}

任务终止

Topic:** thing/product/{gateway_sn}/services

Direction: down

Method: flighttask_stop

Data:

Column	Name	Type	constraint	Description
flight_id	任务id	text
reason	结束原因	enum_int	{"0":"正常结束","1":"另一机场状态机异常"}

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"flight_id": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
		"reason": 0
	},
	"method": "flighttask_stop",
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1234567890123
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: flighttask_stop

Data:

Column	Name	Type	constraint	Description
result	返回码	int		非 0 代表错误

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"method": "flighttask_stop",
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1695634358385
}

上报航线任务进度

Topic: thing/product/{gateway_sn}/events

Direction: up

Method: flighttask_progress

Data:

Column	Name	Type	constraint	Description
flight_id	任务 ID	text
state	断点状态	enum_int	{"0":"在航段上","1":"在航点上"}
way_point_index	航线 ID	int

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
				"way_point_index": 3,
				"flight_id": "flight_id",
				"state": 1,
		},
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "flighttask_progress"
}

一键返航

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: return_home

Data: null

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "return_home"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: return_home

Data:

Column	Name	Type	constraint	Description
result	返回码	int		非 0 代表错误

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"need_reply": 1,
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "return_home"
}

取消一键返航

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: return_home_cancel

Data: null

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "return_home_cancel"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: return_home

Data:

Column	Name	Type	constraint	Description
result	返回码	int		非 0 代表错误

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"need_reply": 1,
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "return_home_cancel"
}

原地降落

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: landing_smart

Data: null

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "landing_smart"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: return_home

Data:

Column	Name	Type	constraint	Description
result	返回码	int		非 0 代表错误

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"need_reply": 1,
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "landing_smart"
}

紧急停止

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: emergency_stop

Data: null

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "emergency_stop"
}

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: emergency_stop

Data:

Column	Name	Type	constraint	Description
result	返回码	int		非 0 代表错误

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"need_reply": 1,
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "emergency_stop"
}

进入DRC模式

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: drc_mode_enter

Data::

Column	Name	Type	Description
hsi_frequency	HSI 频率	int	{"max":30,"min":1,"step":"","unit_name":"赫兹 / Hz"} 设置 HSI 上报频率
mqtt_broker	Broker 连接信息	struct	获取 MQTT 中继服务的地址与认证信息
osd_frequency	OSD 频率	int	{"max":30,"min":1,"step":"","unit_name":"赫兹 / Hz"} 设置 OSD 上报频率

mqtt_broker字段：

Column	Name	Type	Description
address
client_id
enable_tls
expire_time
password
username

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"hsi_frequency": 1,
		"mqtt_broker": {
			"address": "mqtt.dji.com:8883",
			"client_id": "sn_a",
			"enable_tls": true,
			"expire_time": 1672744922,
			"password": "jwt_token",
			"username": "sn_a_username"
		},
		"osd_frequency": 10
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "drc_mode_enter"
}

设备端-reply:

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: drc_mode_enter

Data:

Column	Name	Type	constraint	Description
result	返回码	int		非 0 代表错误

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "drc_mode_enter"
}

web端发送控制指令

进入指令飞行模式后允许通过该指令控制飞行器航行方向与速度，发送的频率需要保持在5-10hz以内让设备能够比较精准的控制速度变化与方向。

Topic: thing/product/{gateway_sn}/drc/down

Direction: down

Method: drone_control

Data:

Column	Name	Type	Description
h	上下方向的速度	double	{"max":5,"min":-4,"unit_name":"米每秒 / m/s"} 向上向下移动的最大速度，负值表示向下移动
seq	命令序号	int	递增的序号，保证指令顺序执行。若 x、y、h、w 参数发生变化，seq 需要从 0 开始增长。
w	机身角速度	double	{"max":90,"min":-90,"unit_name":"弧度每秒 / rad/s"} 顺时针与逆时针的最大角速度，负值表示逆时针转动
x	前进后退方向的速度	double	{"max":17,"min":-17,"unit_name":"米每秒 / m/s"} 前进后退的最大速度，负值表示向后移动
y	左右方向的速度	double	{"max":17,"min":-17,"unit_name":"米每秒 / m/s"} 左右移动的最大速度，负值表示向左移动

Example:

{
	"data": {
		"h": 2.76,
		"seq": 1,
		"w": 2.86,
		"x": 2.34,
		"y": -2.45
	},
	"method": "drone_control"
}

DRC避障信息

Topic: thing/product/{gateway_sn}/drc/up

Direction: up

Method: hsi_info_push

Data:

Column	Name	Type	Description
around_distances	周边的障碍物距离	array	水平方向观察点，分布在[0,360)的角度区间，0对应机头方向正前方，顺时针分布，例如0度为机头正前方，90度为飞行器正右方。每个数值表示该角度上障碍物与飞行器距离，60000 表示该角度没有障碍物。若上报空数组，意味任意角度都无障碍物。若上报 4 个数据的数组，意味该数据为 TOF 避障数据，在红外避障失效时上报，譬如夜晚场景。
back_enable	后视避障开关状态	bool
back_work	后视避障工作状态	bool
down_distance	下方的障碍物距离	int	{"unit_name":"毫米 / mm"}
down_enable	下视避障开关状态	bool
down_work	下视避障工作状态	bool
front_enable	前视避障开关状态	bool
front_work	前视避障工作状态	bool
horizontal_enable	水平避障开关状态	bool
horizontal_work	水平避障工作状态	bool
left_enable	左视避障开关状态	bool
left_work	左视避障工作状态	bool
right_enable	右视避障开关状态	bool
right_work	右视避障工作状态	bool
up_distance	上方的障碍物距离	int	{"unit_name":"毫米 / mm"}
up_enable	上视避障开关状态	bool
up_work	上视避障工作状态	bool
vertical_enable	垂直避障开关状态	bool
vertical_work	垂直避障工作状态	bool

Example:

{
	"method": "hsi_info_push",
	"timestamp": 1670415891013,
	"data": {
		"up_distance": 10,
		"down_distance": 10,
		"around_distance": [
			10,
			8,
			9,
			16,
			2
		],
		"up_enable": true,
		"up_work": true,
		"down_enable": true,
		"down_work": true,
		"left_enable": true,
		"left_work": true,
		"right_enable": true,
		"right_work": true,
		"front_enable": true,
		"front_work": true,
		"back_enable": true,
		"back_work": true,
		"vertical_enable": true,
		"vertical_work": true,
		"horizontal_enable": true,
		"horizontal_work": true
	}
}

DRC osd信息

Topic: thing/product/{gateway_sn}/drc/up

Direction: up

Method: osd_info_push

Data:

Column	Name	Type	Description
attitude_head	飞行器姿态 head 角	float	{"unit_name":"度 / °"} 飞行器姿态 head 角
gimbal_pitch	云台 pitch 角	float	{"unit_name":"度 / °"}
gimbal_roll	云台 roll 角	float	{"unit_name":"度 / °"}
gimbal_yaw	云台 yaw 角	float	{"unit_name":"度 / °"}
height	飞行器高度	float	{"unit_name":"度 / °"} 飞行器海拔高度
latitude	飞行器纬度	float	{"unit_name":"度 / °"}
longitude	飞行器经度	float	{"unit_name":"度 / °"}
speed_x	当前飞行器 x 坐标方向的速度	float	{"unit_name":"米每秒 / m/s"}
speed_y	当前飞行器 y 坐标方向的速度	float	{"unit_name":"米每秒 / m/s"}
speed_z	当前飞行器 z 坐标方向的速度	float	{"unit_name":"米每秒 / m/s"}

Example:

{
	"data": {
		"attitude_head": 60,
		"gimbal_pitch": 60,
		"gimbal_roll": 60,
		"gimbal_yaw": 60,
		"height": 10,
		"latitude": 10,
		"longitude": 10,
		"speed_x": 10,
		"speed_y": 10,
		"speed_z": 10
	},
	"timestamp": 1670415891013
}

DRC飞行器急停

Topic: thing/product/{gateway_sn}/drc/down

Direction: down

Method: drone_emergency_stop

Data: null

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "drone_emergency_stop"
}

DRC心跳

Topic: thing/product/{gateway_sn}/drc/down

Direction: down

Method: heart_beat

Data:

Column	Name	Type	Description
seq	命令序号	int	递增的序号，保证指令顺序执行
timestamp	心跳发送时间戳	int	{"unit_name":"毫秒 / ms"} 若超过 1 分钟未收到业务方发送心跳协议，设备将会认为 DRC 链路处于空闲退出 DRC 链路。

Example:

{
	"data": {
		"seq": 10,
		"timestamp": 1670415891013
	},
	"method": "heart_beat",
	"seq": 1
}

退出DRC模式

Topic: thing/product/{gateway_sn}/services

Direction: down

Method: drc_mode_exit

Data::

Example:**

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "drc_mode_exit"
}

设备端-reply:

Topic: thing/product/{gateway_sn}/services_reply

Direction: up

Method: drc_mode_exit

Data:

Column	Name	Type	constraint	Description
result	返回码	int		非 0 代表错误

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
		"result": 0
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "drc_mode_exit"
}

参数设定

Topic: thing/product/{gateway_sn}/property/set

Direction: down

Method: param_set

Data:

Column	Name	Type	Description
obstacle_avoidance_horizon_enable	水平避障	int
obstacle_avoidance_downside_enable	下避障	int
obstacle_avoidance_upside_enable	上避障	int
rc_lost_action

Example:

{
	"bid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"data": {
			"obstacle_avoidance_horizon_enable": 0,
    	"obstacle_avoidance_downside_enable": 0,
    	"obstacle_avoidance_upside_enable": 0,
    	"rc_lost_action": 0,
	},
	"tid": "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx",
	"timestamp": 1654070968655,
	"method": "param_set"
}

HMS

Topic: thing/product/{gateway_sn}/events

Direction: up

Method: has

Data:

Column	Name	Type	constraint	Description
list	hms信息列表	list

list字段：

Column	Name	Type	constraint	Description
args	产生hms的组件信息	Struct
code	hms编码	string
device_type	设备编码	string
imminent	是否紧急	bool
in_the_sky	是否在空中	bool
level	等级	int
module	模块

Example:

{
    "bid":"7785a02f-b630-4d1d-be12-36d91520ab7f",
    "data":{
        "list":[
            {
                "args":{"component_index":0,"sensor_index":0},
                "code":"0x1B080003",
                "device_type":"0-89-0",
                "imminent":true,
                "in_the_sky":false,
                "level":2,
                "module":3
            }
        ]
    },
    "tid":"f1e89554-a96e-43a9-926f-b1fe3859675b",
    "timestamp":1729504021399,
    "from":"1581F6GKB24790040093",
    "gateway":"4LGZM7300A01VV",
    "method":"hms",
    "need_reply":false
}